From 1b33445c7be545717bd49a015c9309a7c6ee7704 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 9 Jun 2018 16:47:13 -0400
Subject: [PATCH] simulator mavlink set lpos ground truth limits to infinity

---
 src/modules/simulator/simulator_mavlink.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index e90796a913..0214d00d35 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -47,6 +47,8 @@
 #include <mathlib/mathlib.h>
 #include <uORB/topics/vehicle_local_position.h>
 
+#include <limits>
+
 extern "C" __EXPORT hrt_abstime hrt_reset(void);
 
 #define SEND_INTERVAL 	20
@@ -524,10 +526,10 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
 			hil_lpos.ref_lon = _hil_ref_lon;
 			hil_lpos.ref_alt = _hil_ref_alt;
 			hil_lpos.ref_timestamp = _hil_ref_timestamp;
-			hil_lpos.vxy_max = 0.0f;
-			hil_lpos.vz_max = 0.0f;
-			hil_lpos.hagl_min = 0.0f;
-			hil_lpos.hagl_max = 0.0f;
+			hil_lpos.vxy_max = std::numeric_limits<float>::infinity();
+			hil_lpos.vz_max = std::numeric_limits<float>::infinity();
+			hil_lpos.hagl_min = std::numeric_limits<float>::infinity();
+			hil_lpos.hagl_max = std::numeric_limits<float>::infinity();
 
 			// always publish ground truth attitude message
 			int hil_lpos_multi;
@@ -535,8 +537,6 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
 					 ORB_PRIO_HIGH);
 		}
 
-
-
 		break;
 	}
 
-- 
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